Enforces the shared /safety/protective_stop (std_msgs/Bool) contract on
the follower arm. If a node publishes the the stop signal (a depth or vision AI backend, a manual e-stop
topic, etc.), the follower arm stops following the leader holding the last commanded pose.
Runs as an always-on daemon.
Configure via snap set:
snap set so101-safety mode=jtc
snap set so101-safety safety-stop-topic=/safety/protective_stop
snap set so101-safety gate-input-topic=/safety/follower/arm_trajectory_in
snap set so101-safety gate-output-topic=/follower/arm_trajectory_controller/joint_trajectory
snap set so101-safety joint-states-topic=/follower/joint_states
snap set so101-safety ros-domain-id=0
snap set so101-safety rmw-implementation=rmw_fastrtps_cpp
If running mode=jtc alongside so101-teleop, point so101-teleop's
jtc-topic at this snap's gate-input-topic so the trajectory is routed
through the gate instead of straight at the controller:
snap set so101-teleop jtc-topic=/safety/follower/arm_trajectory_in
Check status with snap services so101-safety / snap logs so101-safety.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap can be installed from the command line on openSUSE Leap 15.x and Tumbleweed.
You need first add the snappy repository from the terminal. Choose the appropriate command depending on your installed openSUSE flavor.
Tumbleweed:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Tumbleweed snappy
Leap 15.x:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Leap_15.6 snappy
If needed, Swap out openSUSE_Leap_15. for, openSUSE_Leap_16.0 if you’re using a different version of openSUSE.
With the repository added, import its GPG key:
sudo zypper --gpg-auto-import-keys refresh
Finally, upgrade the package cache to include the new snappy repository:
sudo zypper dup --from snappy
Snap can now be installed with the following:
sudo zypper install snapd
You then need to either reboot, logout/login or source /etc/profile to have /snap/bin added to PATH.
Additionally, enable and start both the snapd and the snapd.apparmor services with the following commands:
sudo systemctl enable --now snapd
sudo systemctl enable --now snapd.apparmor
To install so101-safety, simply use the following command:
sudo snap install so101-safety
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.